Development Of Simulation Software For Welding Robot Production System Based On Line-structured Light Vision Sensor

Industrial robots are the main carrier of digital manufacturing.Off-line programming and production system simulation software can save time and improve productivity for robot automation projects.In this paper,the off-line programming and production system simulation technology are studied,and a simulation software of welding robot production system based on line-structured light vision sensor is designed and developed.Based on the principle of object-oriented software design,the third-party library is used to build the software development framework,design the software architecture and graphical user interface.The 3D model import technology is studied,the part-assembly data structure is designed,and the transformation from STEP file to the data structure is completed.The tree control of MFC and XML file format are used to realize scene resource management and scene file reading and writing.Based on the open-source library of robotics,three interactive modeling methods of robot are proposed to meet the needs of common production equipment modeling.The kinematics of the robot is solved,and the path generation method is proposed.A set of robot control instructions is designed to realize post-processing of robot program and off-line programming.Aiming at the seam correction system,based on the principle of vision simulation,the method and steps of vision simulation are proposed by using the calibrated parameters of vision sensor.The intersection theory of laser ray and workpiece surface is analyzed,and the simulated laser stripe image is obtained.The vision simulation experiment shows that the simulated laser stripe image can be used as the model prior information of image recognition algorithm.Two scene layout methods are proposed,which can be used to build the simulation model of production system quickly and accurately.A motion simulation control method of production system based on I/O signal is proposed to realize the coordinated operation of production equipment.A path based modeling method of conveyor belt is proposed and its motion simulation is carried out.The robot work cell and production line model are designed and established,and the motion simulation experiment is carried out to verify the feasibility of the research method.